Small update (#507)

* (MarkerClient) use key variable * Unsubscribe with callback as arg * Fix Octree circular dep Move Octree Enums to OctreeBase
RobotWebTools · Mar 9, 2022 · 2476bcc · 2476bcc
1 parent 6d869e4
commit 2476bcc
Show file tree

Hide file tree

Showing 17 changed files with 58 additions and 56 deletions.
diff --git a/src/interactivemarkers/InteractiveMarkerClient.js b/src/interactivemarkers/InteractiveMarkerClient.js
@@ -78,7 +78,7 @@ ROS3D.InteractiveMarkerClient.prototype.subscribe = function(topic) {
  */
 ROS3D.InteractiveMarkerClient.prototype.unsubscribe = function() {
   if (this.updateTopic) {
-    this.updateTopic.unsubscribe();
+    this.updateTopic.unsubscribe(this.processUpdate);
   }
   if (this.feedbackTopic) {
     this.feedbackTopic.unadvertise();

diff --git a/src/markers/MarkerArrayClient.js b/src/markers/MarkerArrayClient.js
@@ -50,32 +50,33 @@ ROS3D.MarkerArrayClient.prototype.subscribe = function(){
 
 ROS3D.MarkerArrayClient.prototype.processMessage = function(arrayMessage){
   arrayMessage.markers.forEach(function(message) {
+    var key = message.ns + message.id;
     if(message.action === 0) {
       var updated = false;
-      if(message.ns + message.id in this.markers) { // "MODIFY"
-        updated = this.markers[message.ns + message.id].children[0].update(message);
+      if(key in this.markers) { // "MODIFY"
+        updated = this.markers[key].children[0].update(message);
         if(!updated) { // "REMOVE"
-          this.removeMarker(message.ns + message.id);
+          this.removeMarker(key);
         }
       }
       if(!updated) { // "ADD"
         var newMarker = new ROS3D.Marker({
           message : message,
           path : this.path,
         });
-        this.markers[message.ns + message.id] = new ROS3D.SceneNode({
+        this.markers[key] = new ROS3D.SceneNode({
           frameID : message.header.frame_id,
           tfClient : this.tfClient,
           object : newMarker
         });
-        this.rootObject.add(this.markers[message.ns + message.id]);
+        this.rootObject.add(this.markers[key]);
       }
     }
     else if(message.action === 1) { // "DEPRECATED"
       console.warn('Received marker message with deprecated action identifier "1"');
     }
     else if(message.action === 2) { // "DELETE"
-      this.removeMarker(message.ns + message.id);
+      this.removeMarker(key);
     }
     else if(message.action === 3) { // "DELETE ALL"
       for (var m in this.markers){
@@ -93,7 +94,7 @@ ROS3D.MarkerArrayClient.prototype.processMessage = function(arrayMessage){
 
 ROS3D.MarkerArrayClient.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/markers/MarkerClient.js b/src/markers/MarkerClient.js
@@ -39,7 +39,7 @@ ROS3D.MarkerClient.prototype.__proto__ = EventEmitter2.prototype;
 
 ROS3D.MarkerClient.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 
@@ -70,10 +70,11 @@ ROS3D.MarkerClient.prototype.subscribe = function(){
 
 ROS3D.MarkerClient.prototype.processMessage = function(message){
   // remove old marker from Three.Object3D children buffer
-  var oldNode = this.markers[message.ns + message.id];
-  this.updatedTime[message.ns + message.id] = new Date().getTime();
+  var key = message.ns + message.id;
+  var oldNode = this.markers[key];
+  this.updatedTime[key] = new Date().getTime();
   if (oldNode) {
-    this.removeMarker(message.ns + message.id);
+    this.removeMarker(key);
 
   } else if (this.lifetime) {
     this.checkTime(message.ns + message.id);
@@ -85,12 +86,12 @@ ROS3D.MarkerClient.prototype.processMessage = function(message){
       path : this.path,
     });
 
-    this.markers[message.ns + message.id] = new ROS3D.SceneNode({
+    this.markers[key] = new ROS3D.SceneNode({
       frameID : message.header.frame_id,
       tfClient : this.tfClient,
       object : newMarker
     });
-    this.rootObject.add(this.markers[message.ns + message.id]);
+    this.rootObject.add(this.markers[key]);
   }
 
   this.emit('change');

diff --git a/src/navigation/OcTree.js b/src/navigation/OcTree.js
@@ -2,34 +2,6 @@
  * @author Peter Sari - sari@photoneo.com
  */
 
-/**
- * Toggles voxel visibility
- *
- *    * `occupied` - only voxels that are above or equal to the occupation threshold are shown
- *    * `free` - only voxels that are below the occupation threshold are shown
- *    * `all` - all allocated voxels are shown
- */
-ROS3D.OcTreeVoxelRenderMode = {
-  OCCUPIED: 'occupied',
-  FREE: 'free',
-  ALL: 'all',
-};
-
-/**
- * Coloring modes for each voxel
- *
- *     * 'solid' - voxels will have a single solid color set by the tree globally
- *     * 'occupancy' - voxels are false colored by their occupancy value. Fall back for `solid` if not available.
- *     * 'color' - voxels will colorized by their
- */
-ROS3D.OcTreeColorMode = {
-  SOLID: 'solid',
-  OCCUPANCY: 'occupancy',
-  COLOR: 'color'
-};
-
-// ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- -----
-
 /**
  * Specilaization of BaseOcTree
  *

diff --git a/src/navigation/OcTreeBase.js b/src/navigation/OcTreeBase.js
@@ -2,6 +2,34 @@
  * @author Peter Sari - sari@photoneo.com
  */
 
+/**
+ * Toggles voxel visibility
+ *
+ *    * `occupied` - only voxels that are above or equal to the occupation threshold are shown
+ *    * `free` - only voxels that are below the occupation threshold are shown
+ *    * `all` - all allocated voxels are shown
+ */
+ROS3D.OcTreeVoxelRenderMode = {
+  OCCUPIED: 'occupied',
+  FREE: 'free',
+  ALL: 'all',
+};
+
+/**
+ * Coloring modes for each voxel
+ *
+ *     * 'solid' - voxels will have a single solid color set by the tree globally
+ *     * 'occupancy' - voxels are false colored by their occupancy value. Fall back for `solid` if not available.
+ *     * 'color' - voxels will colorized by their
+ */
+ROS3D.OcTreeColorMode = {
+  SOLID: 'solid',
+  OCCUPANCY: 'occupancy',
+  COLOR: 'color'
+};
+
+// ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- -----
+
 /**
  Quick and dirty helper class
  to read ArrayBuffer in a streamed data-like fashion with mixed types in it

diff --git a/src/navigation/OcTreeClient.js b/src/navigation/OcTreeClient.js
@@ -62,7 +62,7 @@ ROS3D.OcTreeClient.prototype.__proto__ = EventEmitter2.prototype;
 
 ROS3D.OcTreeClient.prototype.unsubscribe = function () {
   if (this.rosTopic) {
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 
@@ -90,7 +90,7 @@ ROS3D.OcTreeClient.prototype.processMessage = function (message) {
   this._processMessagePrivate(message);
 
   if (!this.continuous) {
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 
 };

diff --git a/src/navigation/OccupancyGridClient.js b/src/navigation/OccupancyGridClient.js
@@ -46,7 +46,7 @@ ROS3D.OccupancyGridClient.prototype.__proto__ = EventEmitter2.prototype;
 
 ROS3D.OccupancyGridClient.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 
@@ -108,6 +108,6 @@ ROS3D.OccupancyGridClient.prototype.processMessage = function(message){
 
   // check if we should unsubscribe
   if (!this.continuous) {
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
diff --git a/src/navigation/Odometry.js b/src/navigation/Odometry.js
@@ -40,7 +40,7 @@ ROS3D.Odometry.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.Odometry.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/navigation/Path.js b/src/navigation/Path.js
@@ -34,7 +34,7 @@ ROS3D.Path.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.Path.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/navigation/Point.js b/src/navigation/Point.js
@@ -35,7 +35,7 @@ ROS3D.Point.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.Point.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/navigation/Polygon.js b/src/navigation/Polygon.js
@@ -34,7 +34,7 @@ ROS3D.Polygon.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.Polygon.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/navigation/Pose.js b/src/navigation/Pose.js
@@ -37,7 +37,7 @@ ROS3D.Pose.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.Pose.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/navigation/PoseArray.js b/src/navigation/PoseArray.js
@@ -35,7 +35,7 @@ ROS3D.PoseArray.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.PoseArray.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/navigation/PoseWithCovariance.js b/src/navigation/PoseWithCovariance.js
@@ -33,7 +33,7 @@ ROS3D.PoseWithCovariance.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.PoseWithCovariance.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/sensors/LaserScan.js b/src/sensors/LaserScan.js
@@ -33,7 +33,7 @@ ROS3D.LaserScan.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.LaserScan.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/sensors/NavSatFix.js b/src/sensors/NavSatFix.js
@@ -50,7 +50,7 @@ ROS3D.NavSatFix.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.NavSatFix.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };
 

diff --git a/src/sensors/PointCloud2.js b/src/sensors/PointCloud2.js
@@ -74,7 +74,7 @@ ROS3D.PointCloud2.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.PointCloud2.prototype.unsubscribe = function(){
   if(this.rosTopic){
-    this.rosTopic.unsubscribe();
+    this.rosTopic.unsubscribe(this.processMessage);
   }
 };